Model Link Joint pose relation
Model Link Joint pose relation#
<sdf version="1.9" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:noNamespaceSchemaLocation="http://sdformat.org/schemas/root.xsd">
<model name="two_links_orthogonal_1">
<pose>1 0 0 0 0 0</pose>
<link name="linkA">
<pose>0 0 0.05 0 0 0</pose>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
</link>
<link name="linkB">
<pose>0.5 0 0.5 0 0 0</pose>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
</link>
<joint name="jointAB" type="revolute">
<pose>0 0 -0.5 0 0 0</pose>
<parent>linkA</parent>
<child>linkB</child>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<joint name="joint_world" type="fixed">
<parent>world</parent>
<child>linkA</child>
</joint>
</model>
</sdf>
frame#
Each element has it’s on frame by default link frame is relative to parent link
joint frame is relative to child link
Example#



- World_LinkA Joint
- LinkA_LinkB Joint relative to LinkB (
<pose>0 0 -0.5 0 0 0</pose>)

gz topic -t “/rotor_cmd” -m gz.msgs.Double -p “data: 0.787”